Abstract
In this paper a robust controller for a four-wheel steering (4WS) vehicle is designed by using μ-synthesis techniques. Main goals of the design are the improvement of high-speed turning performance in terms of stability and sideslip reduction. Stability and performance robustness is achieved against variations of the cornering tire stiffness coefficients. Simulations with a nonlinear car steering model show the merits of the proposed control strategy, under μ-split braking maneuver and side wind gust disturbance.
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